#include "Pin.h"
#include "Mat6x6.h"
#include "RigidBodyNode.h"
#include "PrescribedMotion.h"
#include "ABAData.h"
#include "EOMData.h"
#include "State.h"

using namespace RSIM;

///////////////////////////////////////////////////////
// Pin Joint
///////////////////////////////////////////////////////

int Pin::getJointDOF() const{return 1;}

///////////////////////////////////////////////////////

void Pin::updRelVelocity(const State& state, Vect3& w, Vect3& v) const{
	w(2) = state.getUForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

void Pin::calc_H_x_UDot(const State& state, double *h_x_udot) const{
	h_x_udot[2] = state.getUDotForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

void Pin::setDefaultQ(double *q)const{
	q[0] = 0.0;
}

///////////////////////////////////////////////////////

void Pin::setDefaultU(double *u)const{
	u[0] = 0.0;
}

///////////////////////////////////////////////////////

void Pin::calcQDot(State& state)const{
	state.wgetQDotForNode(this->NodeIndex_)[0] = state.wgetUForNode(this->NodeIndex_)[0];
}

///////////////////////////////////////////////////////

Pin::Pin(const int& NodeIndex):Joint(PinJoint){
	this->NodeIndex_ = NodeIndex;
}

///////////////////////////////////////////////////////

Pin* Pin::New(const int& NodeIndex){
	return new Pin(NodeIndex);
}

///////////////////////////////////////////////////////

void Pin::printJointType() const{
	cout<<"Joint Type=Pin\n";
}

///////////////////////////////////////////////////////

void Pin::updJointTransform(const double *q,
				       const RigidBodyNode *Parent,
				       const int& pChildID,
				       double *betak){
	this->T_MF_.wgetR().setRotationZAxis(q[0]);	
}

///////////////////////////////////////////////////////

void Pin::updVelocity(const State& state, 
			     const RigidBodyNode *Parent, 
			     const Rotation& prF_C_F, 
			     const double *betak,
			     Vect3& w, 
			     Vect3& v) const {
	
	const Vect3& pr_w = Parent->data_->getAngularVelocity();
	const Vect3& pr_v = Parent->data_->getLinearVelocity();
	
	// 1. F_C_prF*pr_w is the absolute angular velocity
	// of the parent expressed in the joint's F frame
	// 2. Vect3(0,0,U_[0]) is the angular velocity of this body
	// which is already expressed in the joint's F frame
	
	double *wptr = w.wPtr();
	FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(),pr_w.Ptr(),wptr);
	wptr[2] += state.getUForNode(this->NodeIndex_)[0];
	
	double v_tmp[3];
	
	FastOps::cross(pr_w.Ptr(),betak,v_tmp);
	v_tmp[0] += pr_v(0);
	v_tmp[1] += pr_v(1);
	v_tmp[2] += pr_v(2);
	
	FastOps::transpose_mult_mat33_vec3(prF_C_F.Ptr(), v_tmp, v.wPtr());
}

///////////////////////////////////////////////////////

void Pin::calcAKT(	const RigidBodyNode *Parent, 
			const RigidBodyNode *Body,
			const int& ChildID,     
			const double *betak,
			State& state,     
			Vect6& sAkt) const{
	this->calcQDot(state);
	double *UDot = state.wgetUDotForNode(this->NodeIndex_);

	if(Parent){		
		const double *U = state.getUForNode(this->NodeIndex_);
		
		// AKT is calculated in F basis of this body
		double *akt_ptr = sAkt.wPtr();
		const Rotation& prFCF = Body->data_->getRotationFCF();
		
		// Angular velocity of parent expressed in F of parent
		const double *parent_ang_ptr = Parent->data_->getAngularVelocity().Ptr();
		
		{
			double wwr[3];
			// cross( w^{k-1}, cross(w^{k-1}, \beta^{k-1}) ) {expressed in F of parent}
			FastOps::wxwxr(parent_ang_ptr, betak, wwr);
			
			// cross( w^{k-1} , w^k_k u^k ) {expressed in F of this body}
			FastOps::transpose_mult_mat33_vec3(prFCF.Ptr(), wwr, akt_ptr+3);						
		}
		{
			double ang_vel[3];
			// Covert Angular velocity of parent to F basis of this body
			FastOps::transpose_mult_mat33_vec3(prFCF.Ptr(), parent_ang_ptr, ang_vel);
			
			akt_ptr[0] = U[0]*ang_vel[1];
			akt_ptr[1] = -U[0]*ang_vel[0];
			akt_ptr[2] = 0.0;
		}
		
		// In this case, Akt = Akt + p^k_k \dot{u}^k
		if(this->isMotionPrescribedAndActive_){
			// Update QDot_ cache from prescribed motion
			this->PM_->setUDot(UDot);						
			akt_ptr[2] += UDot[0];
		}
	}
	else{
		if(this->isMotionPrescribedAndActive_){
			this->PM_->setUDot(UDot);
		}
	}
}


///////////////////////////////////////////////////////

void Pin::sweepBackwards(	const bool& isLeaf, 
				const int& ChildID,
				const Vect6& sAkt,
				const Rotation& FCF,					    
				const EOMData *eom,
				const double *betak,
				RigidBodyNode *Parent,
				ABAData *aba) const{
	if(Parent){
		Mat6x6 *Ik3 = aba->wgetIk3();
		Vect6 *Fk3 = aba->wgetFk3();	
		double sIk3[36], sFk3[6];
		
		// cFk = Fk3 - Ik3*A^{k-1}_t
		this->calc_cFk((Fk3)->Ptr(),Ik3->Ptr(),sAkt.Ptr(),aba->wgetcFk()->wPtr());
				
		if(!isMotionPrescribedAndActive_){		
			double triang_ik3[36],triang_cfk[6];

			this->calc_Triang_x_Ik3_RotZ(Ik3->Ptr(),triang_ik3);
			this->calc_Triang_x_cFk_RotZ(Ik3->Ptr(),aba->getcFk()->Ptr(),triang_cfk);

			FastOps::spatial_basis_shift_mat(FCF.Ptr(), triang_ik3, sIk3);
			FastOps::spatial_basis_shift_vec(FCF.Ptr(), triang_cfk, sFk3);
		}
		else{
			FastOps::spatial_basis_shift_mat(FCF.Ptr(), Ik3->Ptr(), sIk3);
			FastOps::spatial_basis_shift_vec(FCF.Ptr(), aba->getcFk()->Ptr(), sFk3);	
		}

		double Ik3Child[36], Fk3Child[6];
		this->calc_skbeta_x_Ik3_x_tskbeta(sIk3, betak, Ik3Child);
		this->calc_skbeta_x_cFk(sFk3, betak, Fk3Child);

		Parent->data_->wgetABAData()->wgetIk3()->add(Ik3Child);
		Parent->data_->wgetABAData()->wgetFk3()->add(Fk3Child);
	}// If (Parent)
}

///////////////////////////////////////////////////////

void Pin::sweepForward(const RigidBodyNode *Parent,
			const int& ChildID,
			const Vect6& sAkt,
			const Rotation& FCF,
			const ABAData *aba,
		        const double *betak,
		        EOMData *eom,
		        State& state
		        ){
	double *UDot = state.wgetUDotForNode(this->NodeIndex_);
	const double *ik3_ptr = aba->getIk3()->Ptr();
	const double *fk3_ptr = aba->getFk3()->Ptr();
	const double *cfk_ptr = aba->getcFk()->Ptr();

	Vect6 *Ak1 = eom->wgetAk1();
	double *ak1_ptr = Ak1->wPtr();
	
	if(Parent){
		const double *Parent_Ak1_Ptr = Parent->data_->getEOMData()->getAk1()->Ptr();
		{
			double ak1_tmp[6];
			FastOps::transpose_skbeta_x_V(Parent_Ak1_Ptr, betak, ak1_tmp);
			FastOps::transpose_spatial_basis_shift_vec(FCF.Ptr(),ak1_tmp, ak1_ptr);
		}

		if(!isMotionPrescribedAndActive_){

			UDot[0] =  ak1_ptr[0]*ik3_ptr[12]-cfk_ptr[2]+ ak1_ptr[1]*ik3_ptr[13] + ak1_ptr[2]*ik3_ptr[14]; 
			UDot[0] += ak1_ptr[3]*ik3_ptr[15]+ak1_ptr[4]*ik3_ptr[16]+ak1_ptr[5]*ik3_ptr[17];
			UDot[0] /= -ik3_ptr[14];

			ak1_ptr[2] += UDot[0];
		}
		Ak1->add(sAkt.Ptr());		
	} // if(Parent)
	else{
		if(!isMotionPrescribedAndActive_){
			// calc Udot			
			UDot[0] = fk3_ptr[2]/ik3_ptr[14];
			
			// If motion is prescribed, Udot is already set in call to Pin::calcAKT
		}
		// Spatial acceleration of the F frame of root body.
		double ak1_tmp[]={0.0,0.0,UDot[0],0.0,0.0,0.0};
		Ak1->copy(ak1_tmp);		
	}
	this->calc_m_cFk(fk3_ptr, ik3_ptr, ak1_ptr, eom->wgetFkc1()->wPtr());	
}

///////////////////////////////////////////////////////